Guarda's city center is compact, making it an inviting place for walking around. As a traveler, you'll find the historical sites, such as the Cathedral and the Jewish Quarter, conveniently accessible by foot. The availability of cafes and restaurants further supports the ease of completing daily errands without needing a car. While the hilly terrain might pose a slight challenge, it overall remains manageable for most pedestrians. Do note that the less frequent use of English compared to coastal areas might require some travelers to brush up on their Portuguese to facilitate easy interaction and service procurement.

Guarda offers a basic public transit system with a bus service that connects the main areas of interest. The bus terminal's proximity to the city center is a boon for travelers looking to explore areas outside by offering connections to other parts of Portugal and beyond. However, the rail station is a bit further out, and infrequent bus services to this location, along with potential rail disruptions, mean that public transit may not always be the quickest or most reliable option for travel within and beyond Guarda.

Despite some cycling routes in the area, Guarda's hilly landscape poses a significant challenge to bikers, indicating it might not be the most bike-friendly city. Its status as Portugal's highest city means the terrain is particularly steep, which can deter casual cyclists. Although the region features some dedicated bike lanes, biking mainly suits those who enjoy demanding rides or plan to use it for leisure rather than daily commuting. The city is working on improvements, but currently, biking is mostly recommended for those comfortable with challenge terrains.